Trajectory Tracking Control for Small-Scale Unmanned Helicopters with Mismatched Disturbances Based on a Continuous Sliding Mode Approach
Joint Authors
Source
International Journal of Aerospace Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-04-22
Country of Publication
Egypt
No. of Pages
15
Abstract EN
A novel continuous sliding mode control (CSMC) strategy based on the finite-time disturbance observer (FTDO) is proposed for the small-scale unmanned helicopters in the presence of both matched and mismatched disturbances.
First, a novel sliding surface is designed based on the estimates of the mismatched disturbances and their derivatives obtained by the FTDO.
Then, a continuous sliding mode control law is developed, which does not lead to any chattering phenomenon.
Furthermore, the closed-loop helicopter system is proved to be asymptotically stable.
Finally, the excellent hovering and tracking performance, as well as the powerful disturbance rejection capability of the proposed novel CSMC method, is validated by the simulation results.
American Psychological Association (APA)
Fang, Xing& Shang, Yujia. 2019. Trajectory Tracking Control for Small-Scale Unmanned Helicopters with Mismatched Disturbances Based on a Continuous Sliding Mode Approach. International Journal of Aerospace Engineering،Vol. 2019, no. 2019, pp.1-15.
https://search.emarefa.net/detail/BIM-1156761
Modern Language Association (MLA)
Fang, Xing& Shang, Yujia. Trajectory Tracking Control for Small-Scale Unmanned Helicopters with Mismatched Disturbances Based on a Continuous Sliding Mode Approach. International Journal of Aerospace Engineering No. 2019 (2019), pp.1-15.
https://search.emarefa.net/detail/BIM-1156761
American Medical Association (AMA)
Fang, Xing& Shang, Yujia. Trajectory Tracking Control for Small-Scale Unmanned Helicopters with Mismatched Disturbances Based on a Continuous Sliding Mode Approach. International Journal of Aerospace Engineering. 2019. Vol. 2019, no. 2019, pp.1-15.
https://search.emarefa.net/detail/BIM-1156761
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1156761